Instrumentation / MTRCTL

MTRCTL - Sets initial frequency of DC motors. - Controls motor speed according to IC specifications. - Handles motors in order to help the car during curved paths.

Dependents:   frdm_MasterVehicle

mtrctl.h@0:4fc76af15d0e, 2014-10-14 (annotated)

Committer:
JalilChavez
Date:
Tue Oct 14 03:55:04 2014 +0000
Revision:
0:4fc76af15d0e
controller of DC motors, this module modifies the duty cycle provided to each motor and also handles the difference of speed necessary to help the car during curved paths.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JalilChavez 0:4fc76af15d0e 1 #ifndef _MTRCTL_H_
JalilChavez 0:4fc76af15d0e 2 #define _MTRCTL_H_
JalilChavez 0:4fc76af15d0e 3
JalilChavez 0:4fc76af15d0e 4 #include "mbed.h"
JalilChavez 0:4fc76af15d0e 5
JalilChavez 0:4fc76af15d0e 6 /**********************************************************************************
JalilChavez 0:4fc76af15d0e 7 * Servo parameters
JalilChavez 0:4fc76af15d0e 8 ***********************************************************************************/
JalilChavez 0:4fc76af15d0e 9 #define OP_PERIOD 90900/* us
JalilChavez 0:4fc76af15d0e 10 * Description: operation period to control propulsion motors
JalilChavez 0:4fc76af15d0e 11 */
JalilChavez 0:4fc76af15d0e 12
JalilChavez 0:4fc76af15d0e 13 #define MAX_POWER 1000/*
JalilChavez 0:4fc76af15d0e 14 * Description: logical, max value allowed for a PWM channel
JalilChavez 0:4fc76af15d0e 15 */
JalilChavez 0:4fc76af15d0e 16
JalilChavez 0:4fc76af15d0e 17 #define MIN_POWER 100/*
JalilChavez 0:4fc76af15d0e 18 * Description: logical, min value allowed for a PWM channel
JalilChavez 0:4fc76af15d0e 19 */
JalilChavez 0:4fc76af15d0e 20
JalilChavez 0:4fc76af15d0e 21 #define MAX_DIRECTION_VAL 128/*
JalilChavez 0:4fc76af15d0e 22 * Description: Maximum direction value, it means totally right, 0 means totally left
JalilChavez 0:4fc76af15d0e 23 */
JalilChavez 0:4fc76af15d0e 24
JalilChavez 0:4fc76af15d0e 25 #define SCALE_DIR2SPEED (uint16_t)(MAX_POWER/MAX_DIRECTION_VAL)
JalilChavez 0:4fc76af15d0e 26
JalilChavez 0:4fc76af15d0e 27 /**********************************************************************************
JalilChavez 0:4fc76af15d0e 28 * Variable types definition
JalilChavez 0:4fc76af15d0e 29 ***********************************************************************************/
JalilChavez 0:4fc76af15d0e 30 typedef enum
JalilChavez 0:4fc76af15d0e 31 {
JalilChavez 0:4fc76af15d0e 32 nLeftMotor = 0,
JalilChavez 0:4fc76af15d0e 33 nRightMotor,
JalilChavez 0:4fc76af15d0e 34 nNoOfMotors
JalilChavez 0:4fc76af15d0e 35 }MTRCTL_tenMotors;
JalilChavez 0:4fc76af15d0e 36 /**********************************************************************************
JalilChavez 0:4fc76af15d0e 37 * Global functions
JalilChavez 0:4fc76af15d0e 38 ***********************************************************************************/
JalilChavez 0:4fc76af15d0e 39 void MTRCTL_vInit( void );
JalilChavez 0:4fc76af15d0e 40 void MTRCTL_vSetMaxSpeed( uint16_t u16MaxSpeed );
JalilChavez 0:4fc76af15d0e 41 void MTRCTL_vSetMotorPower( uint16_t u16InPwr, MTRCTL_tenMotors enMotor );
JalilChavez 0:4fc76af15d0e 42 void MTRCTL_vSetSystemSpeed( uint16_t u16Speed, uint8_t u8Direction );
JalilChavez 0:4fc76af15d0e 43
JalilChavez 0:4fc76af15d0e 44 #endif